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Body wrench and Joint Effort

#gazebo classic   #tutorial   #ros2   #wrench   #effort  

Table of Content

Body wrench and Joint Effort#

ROS 2 Migration

Link Wrench#

model plugin: libgazebo_ros_force.so system plugin: libgazebo_ros_force_system.so

LAB :#

libgazebo_ros_force#
world gazebo_ros_force_demo.world
model force
<plugin name="gazebo_ros_force" filename="libgazebo_ros_force.so">
    <ros>
        <namespace>/demo/world</namespace>
        <remapping>gazebo_ros_force:=force_demo</remapping>
    </ros>
    <link_name>link</link_name>
    <force_frame>world</force_frame>
</plugin>

# Apply force relative to force_frame
ros2 topic pub -1 /demo/world/force_demo geometry_msgs/Wrench "force: {x: 10.0}"

libgazebo_ros_force_system.so#

  • Run gazebo with system pligin
gazebo --verbose -s libgazebo_ros_force_system.so force_demo.world

ros2 service list
#
/apply_joint_effort
/apply_link_wrench
/clear_joint_efforts
/clear_link_wrenches

ros2 service call /apply_link_wrench gazebo_msgs/srv/ApplyLinkWrench '{link_name: "force_on_world_frame::link", reference_frame: "", reference_point: { x: 0, y: 0, z: 0 }, wrench: { force: { x: 10, y: 0, z: 0 }, torque: { x: 0, y: 0, z: 0 } }, start_time: {sec: 0, nanosec: 0}, duration: {sec: -1, nanosec: 0} }'

ros2 service call /apply_link_wrench gazebo_msgs/srv/ApplyLinkWrench '{link_name: "force_on_world_frame::link", reference_frame: "force_on_world_frame::link", reference_point: { x: 0, y: 0, z: 0 }, wrench: { force: { x: 10, y: 0, z: 0 }, torque: { x: 0, y: 0, z: 0 } }, start_time: {sec: 0, nanosec: 0}, duration: {sec: -1, nanosec: 0} }'

ros2 service call /clear_link_wrenches gazebo_msgs/srv/LinkRequest '{link_name: "force_on_world_frame::link"}'

TODO: - usage of this service - reference name ? - reference point - force units - why the box move only when we apply 10 and above - what is the different between the system and the model plugin

Reference#